相关论文: Modelling and Control of a Knuckle Boom Crane

The control of devices with limited input always bring attention to solve by research due to its difficulty and non-trival solution. For instance, the inverted pendulum is benchmarking problem in control theory and machine learning. In this…

Robust control theory has been successfully applied to numerous real-world problems using a small set of devices called {\it controllers}. However, the real systems represented by networks contain unreliable components and modern robust…

The design of compliant mechanisms is crucial in several technologies and relies on the availability of solutions for nonlinear structural problems. One of these solutions is given and experimentally validated in the present article for a…

This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the…

Cross-flow turbines, also known as vertical-axis turbines, have numerous features that make them attractive for wind and marine renewable energy. To maximize power output, the turbine blade kinematics may be controlled during the course of…

The study is devoted to mathematical modeling and optimal control design of longitudinal motions of a rectilinear elastic rod. The control inputs are a force, which is normal to the cross section and distributed piecewise constantly along…

This paper proposes a Recurrent Neural Network (RNN) controller for lane-keeping systems, effectively handling model uncertainties and disturbances. First, quadratic constraints cover the nonlinearities brought by the RNN controller, and…

Conventional multi-rotors are under-actuated systems, hindering them from independently controlling attitude from position. In this study, we present several distinct configurations that incorporate additional control inputs for…

Symmetry is a fundamentally important concept in many branches of physics. In this work, we discuss two types of symmetries, external symmetry and internal symmetry, which appear frequently in controlled quantum spin chains and apply them…

This work addresses the modelling and control aspects for quadcopter or drone unmanned aerial vehicles (UAVs). First, the mathematical model of the drone is derived by identifying significant parameters and the negligible ones are treated…

Forestry cranes operate in dynamic, unstructured outdoor environments where simultaneous collision avoidance and payload sway control are critical for safe navigation. Existing approaches address these challenges separately, either focusing…

In this paper, a framework for the combination of robust fractional order CRONE control with non-linear reset is given for both first and second generation CRONE control. General design rules are derived and presented for these CRONE reset…

This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…

This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…

In this paper, we analyze a systematically designed and easily tunable backstepping-based boundary control concept developed by Thull, Wild, and Kugi (2006) for a gantry crane with heavy chain and payload. The corresponding closed-loop…

The existence of multiple irregular obstacles in the environment introduces nonconvex constraints into the optimization for motion planning, which makes the optimal control problem hard to handle. One efficient approach to address this…

In spite of the recent interest and advances in linear controllability of complex networks, controlling nonlinear network dynamics remains to be an outstanding problem. We develop an experimentally feasible control framework for nonlinear…

Cranes have long been essential equipment for lifting and placing heavy loads in construction projects. This study focuses on the lowering phase of crane operation, the stage in which the load is moved to the desired location. During this…

Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…

Solar sails provide a means of propulsion using solar radiation pressure, which offers the possibility of exciting new spacecraft capabilities. However, solar sails have attitude control challenges because of the significant disturbance…